task verifier and data collection

docker/compose.yml

@@ -33,7 +33,6 @@ services:
       context: ..
       dockerfile: docker/isaaclab/Dockerfile
     image: isaaclab:dev
-    user: "${HOST_UID}:${HOST_GID}"
     deploy:
       resources:
         reservations:

openreal2sim/simulation/isaaclab/data_collection/README.md

@@ -0,0 +1,52 @@
+# IsaacLab
+
+## Installation
+
+**Pull the pre-built docker image**
+
+If you want to use a pre-built image from Docker Hub, you can pull it directly:
+   ```bash
+   docker pull ghcr.io/pointscoder/isaaclab:dev
+   docker tag ghcr.io/pointscoder/isaaclab:dev isaaclab:dev
+   ```
+
+**On the host machine and before entering the container**, run
+```
+xhost +local:
+```
+This is to allow the container to access the host's X server for IsaacSim GUI.
+
+Then, launch the container:
+```
+HOST_UID=$(id -u) HOST_GID=$(id -g) docker compose -p "$USER" -f docker/compose.yml up -d isaaclab 
+```
+and enter it:
+```
+HOST_UID=$(id -u) HOST_GID=$(id -g) docker compose -p "$USER" -f docker/compose.yml exec isaaclab bash
+```
+
+## Preprocessing
+
+We need to convert the textured meshes to USD format. This is done by running the following script:
+```
+python openreal2sim/simulation/isaaclab/sim_preprocess/usd_conversion.py
+```
+
+Then, we generate grasp proposals for each object in the scene:
+```
+python openreal2sim/simulation/isaaclab/sim_preprocess/grasp_generation.py
+```
+
+## Running the simulation
+
+We provide heuristic policies using grasping and motion planning:
+```
+python openreal2sim/simulation/isaaclab/sim_heuristic_manip.py
+```
+
+## Replay Robot Trajectories
+
+We can also replay the recorded robot trajectories in IsaacSim:
+```
+python openreal2sim/simulation/isaaclab/sim_replay_trajectories.py --demo_dir <path_to_demo_directory>
+```